function [KA,Weights,name] = selfCalibUnrobust(TF,w,h,numparams,corrs)
%this function , given a camera center and a focal length and a series of fundamental
%matrices computes the error with respect to a fundamental matrix

[~,numFs]=size(TF);
name='unrobust';
Weights=ones(numFs,1);
%TF=TF*10000;
plotting=0;
numtries=1;


[allsols,  scrs, bestslns] =nonlinearOptimizeselfcalibnormMOD(TF, w,h, numparams ,Weights,numtries);




if(plotting==1)
    plotSelfCalibResults(allsols,  scrs, bestslns,WEIGHTS,numparams);   
end

KA=bestslns;
end

